CN111710028A - Three-dimensional contrast image generation method and device, storage medium and electronic equipment - Google Patents
Three-dimensional contrast image generation method and device, storage medium and electronic equipment Download PDFInfo
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Abstract
The present disclosure relates to a method, an apparatus, a storage medium, and an electronic device for generating a three-dimensional contrast image, which relate to the technical field of image processing and are applied to a DSA device, and the method includes: the method comprises the steps of obtaining a two-dimensional image of a blood vessel in a designated area at a target moment, displaying a guide wire of a DSA device in the two-dimensional image, registering pre-obtained three-dimensional data with the two-dimensional image to determine a target position of the front end of the guide wire in a three-dimensional space corresponding to the three-dimensional data, determining a target plane vertical to the plane of the two-dimensional image in the three-dimensional space according to the target position, and generating a three-dimensional contrast image according to the three-dimensional data and the target plane, wherein the three-dimensional contrast image comprises the three-dimensional structure at the target position. The three-dimensional contrast image with the front end of the guide wire as the first visual angle can be provided, so that a user can visually and clearly view the structure inside the blood vessel and the running of the guide wire in the blood vessel.
Description
Technical Field
The present disclosure relates to the field of image processing technologies, and in particular, to a method and an apparatus for generating a three-dimensional contrast image, a storage medium, and an electronic device.
Background
With the continuous development of image processing technology, DSA (Digital Subtraction Angiography) devices are widely used in the medical field. Particularly aiming at vascular diseases, various interventional operations can be realized through DSA equipment so as to effectively treat patients, and the DSA equipment has the characteristics of low wound, simplicity, convenience, safety, quick curative effect and the like. The DSA equipment can generate a contrast image in real time, the contrast image is used as a Road Map (English: Road Map) after the guide wire enters a blood vessel, and a doctor can observe the outline of the blood vessel and the shape of the guide wire in the blood vessel through the guidance of the Road Map, so that the doctor is assisted in conducting guide wire operation. Usually, the view angle of the road map is determined by the emitting direction of the X-ray emitter (e.g. bulb) of the DSA device, i.e. the doctor can only observe the outline of the blood vessel through the road map. Moreover, because the blood vessels may have scenes such as overlapping, folding points, bifurcating points and the like, the doctor needs to repeatedly adjust the angle of the DSA equipment rack to confirm the direction of the blood vessels, and the operation is complex.
Disclosure of Invention
The present disclosure is directed to a method, an apparatus, a storage medium, and an electronic device for generating a three-dimensional contrast image, so as to solve the problem that DSA devices in the prior art can only observe the contour of a blood vessel and need to repeatedly adjust a gantry.
In order to achieve the above object, according to a first aspect of embodiments of the present disclosure, there is provided a method for generating a three-dimensional contrast image, applied to a digital subtraction angiography DSA apparatus, the method including:
acquiring a two-dimensional image of a blood vessel in a designated area at a target moment, wherein a guide wire of the DSA equipment is displayed in the two-dimensional image;
registering pre-acquired three-dimensional data with the two-dimensional image to determine a target position of the front end of the guide wire in a three-dimensional space corresponding to the three-dimensional data, wherein the three-dimensional data is image data capable of describing a three-dimensional structure of a blood vessel in the designated area;
according to the target position, determining a target plane perpendicular to the plane of the two-dimensional image in the three-dimensional space;
generating a three-dimensional contrast image from the three-dimensional data and the target plane, the three-dimensional contrast image including a three-dimensional structure at the target location.
Optionally, the registering the pre-acquired three-dimensional data with the two-dimensional image to determine a target position of the leading end of the guide wire in a three-dimensional space corresponding to the three-dimensional data includes:
registering the three-dimensional data and the two-dimensional image according to a preset image registration algorithm so as to determine a target blood vessel where the front end of the guide wire is located in the two-dimensional image and determine the absolute position of the target blood vessel in the three-dimensional space;
determining the relative position of the front end of the guide wire in the target blood vessel according to the two-dimensional image;
and determining the target position according to the absolute position and the relative position.
Optionally, the determining a relative position of the leading end of the guidewire within the target vessel from the two-dimensional image includes:
identifying the front end of the guide wire in the two-dimensional image to determine the number of pixels occupied by the front end of the guide wire in the two-dimensional image;
determining the size of each pixel in the two-dimensional image according to the diameter of the front end of the guide wire and the number of the pixels;
determining the relative position based on the size of each pixel in the two-dimensional image.
Optionally, the registering the pre-acquired three-dimensional data with the two-dimensional image to determine a target position of the leading end of the guide wire in a three-dimensional space corresponding to the three-dimensional data further includes:
and correcting the target position according to a historical two-dimensional image and the two-dimensional image, wherein the historical two-dimensional image is an image of the blood vessel in the specified area acquired at the last moment of the target moment.
Optionally, before the generating a three-dimensional contrast image from the three-dimensional data and the target plane, the method further comprises:
identifying a target blood vessel where the front end of the guide wire is located in the two-dimensional image, and determining the central line of the target blood vessel;
taking the intersection point of the central line and the target plane as a target viewpoint;
generating a three-dimensional contrast image from the three-dimensional data and the target plane, comprising:
determining a three-dimensional structure at the target location from the three-dimensional data;
and generating the three-dimensional contrast image according to the target viewpoint by taking the target plane as a section of the three-dimensional structure.
Optionally, after the generating a three-dimensional contrast image from the three-dimensional data and the target plane, the method further comprises:
and displaying a guide wire mark at a position corresponding to the target position in the three-dimensional contrast image, wherein the guide wire mark is used for displaying the position of the guide wire in a three-dimensional structure at the target position.
Optionally, after the generating a three-dimensional contrast image from the three-dimensional data and the target plane, the method further comprises:
determining an expected trend of the guide wire at the target position and displaying the expected trend in the three-dimensional contrast image; and/or the presence of a gas in the gas,
determining a vessel name at the target location and displaying the vessel name in the three-dimensional contrast image.
According to a second aspect of the embodiments of the present disclosure, there is provided an apparatus for generating a three-dimensional contrast image, which is applied to a digital subtraction angiography DSA device, the apparatus including:
the acquisition module is used for acquiring a two-dimensional image of a blood vessel in a specified region at a target moment, and a guide wire of the DSA equipment is displayed in the two-dimensional image;
the registration module is used for registering pre-acquired three-dimensional data and the two-dimensional image so as to determine a target position of the front end of the guide wire in a three-dimensional space corresponding to the three-dimensional data, wherein the three-dimensional data is image data capable of describing a three-dimensional structure of a blood vessel in the specified area;
the determining module is used for determining a target plane vertical to the plane of the two-dimensional image in the three-dimensional space according to the target position;
a generating module to generate a three-dimensional angiographic image from the three-dimensional data and the target plane, the three-dimensional angiographic image including a three-dimensional structure at the target location.
Optionally, the registration module comprises:
the registration submodule is used for registering the three-dimensional data and the two-dimensional image according to a preset image registration algorithm so as to determine a target blood vessel where the front end of the guide wire is located in the two-dimensional image and determine the absolute position of the target blood vessel in the three-dimensional space;
a first determining submodule for determining a relative position of a leading end of the guide wire in the target vessel according to the two-dimensional image;
and the second determining submodule is used for determining the target position according to the absolute position and the relative position.
Optionally, the first determining sub-module is configured to:
identifying the front end of the guide wire in the two-dimensional image to determine the number of pixels occupied by the front end of the guide wire in the two-dimensional image;
determining the size of each pixel in the two-dimensional image according to the diameter of the front end of the guide wire and the number of the pixels;
determining the relative position based on the size of each pixel in the two-dimensional image.
Optionally, the registration module further comprises:
and the correction submodule is used for correcting the target position according to a historical two-dimensional image and the two-dimensional image, wherein the historical two-dimensional image is an image of the blood vessel in the specified area, which is acquired at the last moment of the target moment.
Optionally, the apparatus further comprises:
the identification module is used for identifying a target blood vessel where the front end of the guide wire is located in the two-dimensional image and determining the central line of the target blood vessel before the three-dimensional contrast image is generated according to the three-dimensional data and the target plane; taking the intersection point of the central line and the target plane as a target viewpoint;
the generation module is used for determining a three-dimensional structure at the target position according to the three-dimensional data; and generating the three-dimensional contrast image according to the target viewpoint by taking the target plane as a section of the three-dimensional structure.
Optionally, the apparatus further comprises:
a first display module, configured to display, in a three-dimensional angiography image after the three-dimensional angiography image is generated according to the three-dimensional data and the target plane, a guide wire identifier at a position corresponding to the target position in the three-dimensional angiography image, where the guide wire identifier is used to show a position of the guide wire within a three-dimensional structure at the target position.
Optionally, the apparatus further comprises:
a second display module for determining an expected trend of the guide wire at the target position after the three-dimensional contrast image is generated according to the three-dimensional data and the target plane, and displaying the expected trend in the three-dimensional contrast image; and/or determining the name of the blood vessel at the target position and displaying the name of the blood vessel in the three-dimensional contrast image.
According to a third aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the first aspect of embodiments of the present disclosure.
According to a fourth aspect of the embodiments of the present disclosure, there is provided an electronic apparatus including:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of the first aspect of an embodiment of the disclosure.
According to the technical scheme, the two-dimensional image of the blood vessel in the designated area at the target moment is acquired, wherein the two-dimensional image is displayed with the guide wire of the DSA equipment, and then the two-dimensional image and the pre-acquired three-dimensional data are registered, so that the target position of the front end of the guide wire in the three-dimensional space corresponding to the three-dimensional data is obtained, and the three-dimensional data are image data capable of describing the three-dimensional structure of the blood vessel in the designated area. And determining a target plane perpendicular to the plane of the two-dimensional image in the three-dimensional space according to the target position, and finally generating a three-dimensional contrast image comprising a three-dimensional structure at the target position according to the three-dimensional data and the target plane. The method and the device can provide the three-dimensional contrast image with the front end of the guide wire as the first visual angle, and enable a user to visually and clearly check the structure in the blood vessel and the running of the guide wire in the blood vessel without repeatedly adjusting a frame of the DSA equipment, thereby expanding the application scene and the applicability of the DSA equipment and improving the intelligence of the DSA equipment.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a method of generating a three-dimensional contrast image in accordance with an exemplary embodiment;
FIG. 2 is a schematic illustration of a two-dimensional image and a three-dimensional contrast image shown in accordance with an exemplary embodiment;
FIG. 3 is a flow chart illustrating another method of generating a three-dimensional contrast image in accordance with an exemplary embodiment;
FIG. 4 is a flow chart illustrating another method of generating a three-dimensional contrast image in accordance with an exemplary embodiment;
FIG. 5 is a flow chart illustrating another method of generating a three-dimensional contrast image in accordance with an exemplary embodiment;
FIG. 6 is a schematic diagram of a three-dimensional contrast image generation process shown in accordance with an exemplary embodiment;
FIG. 7 is a flow chart illustrating another method of generating a three-dimensional contrast image in accordance with an exemplary embodiment;
FIG. 8 is a schematic illustration of a three-dimensional contrast image shown in accordance with an exemplary embodiment;
FIG. 9 is a flow chart illustrating another method of generating a three-dimensional contrast image in accordance with an exemplary embodiment;
fig. 10 is a block diagram illustrating a three-dimensional contrast image generation apparatus according to an exemplary embodiment;
fig. 11 is a block diagram illustrating another apparatus for generating a three-dimensional contrast image according to an exemplary embodiment;
fig. 12 is a block diagram illustrating another three-dimensional contrast image generation apparatus according to an exemplary embodiment;
fig. 13 is a block diagram illustrating another three-dimensional contrast image generation apparatus according to an exemplary embodiment;
fig. 14 is a block diagram illustrating another three-dimensional contrast image generation apparatus according to an exemplary embodiment;
FIG. 15 is a block diagram illustrating an electronic device in accordance with an example embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
According to the method, the three-dimensional contrast image with the front end of the guide wire as the first visual angle is generated according to the two-dimensional image acquired in real time and the three-dimensional data acquired in advance, the frame of the DSA equipment does not need to be adjusted repeatedly, the user can visually and clearly check the structure inside the blood vessel and the running of the guide wire in the blood vessel, the operation of the user on the DSA equipment can be reduced, meanwhile, the substitution feeling of the user is enhanced, the efficiency of the user in conducting guide wire operation is improved, the user can conveniently observe the shape of the inner wall of the blood vessel, and the narrow position is identified. Therefore, the application scene and the applicability of the DSA equipment are expanded, and the intelligence of the DSA equipment is improved.
Fig. 1 is a flowchart illustrating a method of generating a three-dimensional contrast image, as shown in fig. 1, applied to a DSA apparatus, according to an exemplary embodiment, including the steps of:
For example, when using the DSA device, a user controls a Guide Wire (Guide Wire) of the DSA device to enter a blood vessel of a designated region of a human body, a bulb of the DSA device emits X-rays at a target time, the X-rays pass through the designated region of the human body and are received by a detector of the DSA device, and the detector transmits the received X-rays to a processor of the DSA device. The processor can generate a two-dimensional image containing the blood vessels and the guide wires in the designated area according to the intensity changes (i.e. attenuation degree) of the X-rays emitted by the bulb and the X-rays received by the detector, as shown in (a) of FIG. 2. The target time may be a current time, or may be any specified time, which is not specifically limited by the present disclosure. The designated area may be a designated organ (e.g., brain, lung, liver, etc.), or a designated part (e.g., torso, left arm, neck), etc. The content displayed in the two-dimensional image enables the user to observe the contour of the blood vessel, and when the user encounters a scene where the blood vessel has an overlap, a folding point, a bifurcation point, or the like, the user cannot specify the direction of the blood vessel only by the two-dimensional image, and therefore cannot perform a specific operation using the guide wire.
For example, after the two-dimensional image is acquired, the two-dimensional image and the pre-acquired three-dimensional data may be registered according to a preset image registration algorithm, so as to find a position of content included in the two-dimensional image in a three-dimensional space corresponding to the three-dimensional data, and further determine a target position of the front end of the guide wire in the three-dimensional space. Wherein, the front end of the guide wire is the end (also called as the far end, English: digital) of the guide wire far away from the user, and then the target position is the position of the front end of the guide wire in the three-dimensional space at the target moment. The three-dimensional data is image data obtained by scanning a designated area in advance by using a designated device, and the three-dimensional structure of the blood vessel in the designated area can be completely described through the three-dimensional data. It can be understood that the blood vessel in the designated area can be three-dimensionally modeled through the three-dimensional data, and a three-dimensional model of the blood vessel in the designated area is obtained. Accordingly, the three-dimensional space corresponding to the three-dimensional data can be understood as a three-dimensional space in which a three-dimensional model of a blood vessel in the specified region is located, each point in the three-dimensional space can correspond to an actual position in the specified region, and then the target position corresponds to the actual position in the specified region, that is, the actual position of the front end of the guide wire in the specified region at the target moment.
It should be noted that the designated device for acquiring three-dimensional data may be a DSA device in this embodiment, or may also be a CT (Computed Tomography, chinese) device, an MR (magnetic resonance, chinese) device, and the like, and this disclosure does not specifically limit this.
And 103, determining a target plane vertical to the plane of the two-dimensional image in the three-dimensional space according to the target position.
For example, in order to enable a user to visually and clearly view structures inside a blood vessel and the running of a guide wire in the blood vessel, a three-dimensional contrast image with a first visual angle at the front end of the guide wire can be provided for the user. Taking the leading end of the guide wire as a first viewing angle, it can be understood as a viewing angle assuming that the user's eyes are located on the plane where the leading end of the guide wire is located. Then, to generate a three-dimensional contrast image, the object plane of the three-dimensional contrast image needs to be determined first. The target plane can be understood as a plane perpendicular to the plane of the two-dimensional image in the three-dimensional space, and the target plane includes the target position (i.e., the front end of the guide wire is located on the target plane), and the position relationship between the target plane and the two-dimensional image is shown in fig. 2 (b).
After the object plane is determined, a three-dimensional contrast image including the three-dimensional structure at the object location may be generated from the three-dimensional data and the object plane. The process of generating the three-dimensional contrast image may be understood as determining a range that can be viewed with the front end of the guide wire as a first viewing angle according to the target plane, screening image data that can describe a three-dimensional structure of the range from the three-dimensional data, and finally performing three-dimensional modeling in a three-dimensional space using the screened image data to obtain the three-dimensional contrast image. The three-dimensional imaging method can also be understood as that three-dimensional modeling is firstly carried out in a three-dimensional space by utilizing three-dimensional data to obtain a three-dimensional model of the blood vessel in the designated area, then the target plane is used as a section of the three-dimensional model to cut the three-dimensional model, and the obtained three-dimensional section image is the three-dimensional radiography image. The three-dimensional contrast image can show the three-dimensional structure at the target position with the leading end of the guide wire as a first view angle, as shown in (c) of fig. 2.
Further, after the three-dimensional contrast image is generated, the three-dimensional contrast image may be displayed in real time, that is, the three-dimensional contrast image is displayed as a road map to guide the guide wire. The three-dimensional contrast images can be printed or stored according to specific requirements so as to assist a user in diagnosis, analysis and archiving. For example, a function switch for a three-dimensional contrast image may be provided on the DSA apparatus, and when the function switch is turned on, the three-dimensional contrast image is displayed in real time while being stored, and when the function switch is turned off, only the three-dimensional contrast image is stored. The three-dimensional contrast image may be directly displayed on a display corresponding to the DSA apparatus, or a window may be created in a certain region (e.g., upper right corner) of the two-dimensional image to display the three-dimensional contrast image, as shown in fig. 2 (d).
In summary, the present disclosure first obtains a two-dimensional image of a blood vessel in a specified region at a target time, where the two-dimensional image shows a guide wire of a DSA device, and then registers the two-dimensional image with pre-obtained three-dimensional data, so as to obtain a target position of a front end of the guide wire in a three-dimensional space corresponding to the three-dimensional data, where the three-dimensional data is image data capable of describing a three-dimensional structure of the blood vessel in the specified region. And determining a target plane perpendicular to the plane of the two-dimensional image in the three-dimensional space according to the target position, and finally generating a three-dimensional contrast image comprising a three-dimensional structure at the target position according to the three-dimensional data and the target plane. The method and the device can provide the three-dimensional contrast image with the front end of the guide wire as the first visual angle, and enable a user to visually and clearly check the structure in the blood vessel and the running of the guide wire in the blood vessel without repeatedly adjusting a frame of the DSA equipment, thereby expanding the application scene and the applicability of the DSA equipment and improving the intelligence of the DSA equipment.
Fig. 3 is a flowchart illustrating another method for generating a three-dimensional contrast image according to an exemplary embodiment, and as shown in fig. 3, step 102 may include:
and step 1021, registering the three-dimensional data and the two-dimensional image according to a preset image registration algorithm to determine a target blood vessel where the front end of the guide wire is located in the two-dimensional image and determine the absolute position of the target blood vessel in the three-dimensional space.
For example, the three-dimensional data and the two-dimensional image may be registered according to a preset image registration algorithm, and the registration operation may be understood as fusing images (i.e., the two-dimensional image and the three-dimensional data) acquired under different conditions for the same object (i.e., the target blood vessel), and mapping the two-dimensional image into a three-dimensional space corresponding to the three-dimensional data through a preset spatial transformation, so that points corresponding to the same position in the designated area in the two-dimensional image and the three-dimensional data are in one-to-one correspondence. The image registration algorithm may be, for example, a grayscale-based MAD (chinese: Mean Absolute difference) algorithm, an SAD (chinese: Sum of Absolute Differences) algorithm, a Harris corner detection method, an optical flow detection method, and the like based on feature points, or a walsh transform method, a wavelet transform method, and the like based on domain transform, which are not specifically limited in this disclosure. After the three-dimensional data and the two-dimensional image are registered, a target blood vessel where the front end of the guide wire in the two-dimensional image is located can be found in the three-dimensional space, and the absolute position of the target blood vessel in the three-dimensional space is determined. Where an absolute position is understood to be the position of the target vessel within the three-dimensional model of the vessel within the specified region, it is able to indicate the actual position of the target vessel within the specified region.
At step 1022, the relative position of the leading end of the guidewire within the target vessel is determined from the two-dimensional images.
In step 1023, the target position is determined based on the absolute position and the relative position.
By way of example, the relative position of the leading end of the guide wire in the target blood vessel can also be determined from the two-dimensional image, and the relative position can be understood as the position relationship between the leading end of the guide wire and the contour of the target blood vessel. And finally, determining the target position according to the absolute position and the relative position, namely finding the position of the front end of the guide wire in the three-dimensional model of the blood vessel in the specified region by using the relative position as a reference.
Specifically, the determining manner of the relative position in step 1022 may include:
step 1) identifying the front end of the guide wire in the two-dimensional image to determine the number of pixels occupied by the front end of the guide wire in the two-dimensional image.
And 2) determining the size of each pixel in the two-dimensional image according to the diameter of the front end of the guide wire and the number of the pixels.
And 3) determining the relative position according to the size of each pixel in the two-dimensional image.
In a specific application scene, the front end of the guide wire in the two-dimensional image can be identified according to a preset image identification algorithm, so that the pixel number occupied by the front end of the guide wire in the two-dimensional image is determined. The actual distance of the pixels occupied by the front end of the guide wire in the two-dimensional image corresponding to the specified area is the diameter of the front end of the guide wire, and the size of each pixel in the two-dimensional image can be determined according to the diameter of the front end of the guide wire and the number of the pixels because the diameter of the front end of the guide wire is fixed. For example, the size of each pixel is the diameter of the leading end of the guidewire per number of pixels. Then, the distance, i.e., the relative position, between the leading end of the guide wire and the contour of the target blood vessel can be determined based on the size of each pixel in the two-dimensional image.
Fig. 4 is a flowchart illustrating another method for generating a three-dimensional contrast image according to an exemplary embodiment, and as shown in fig. 4, step 102 may further include:
and step 1024, correcting the target position according to the historical two-dimensional image and the two-dimensional image, wherein the historical two-dimensional image is an image of the blood vessel in the specified area acquired at the last moment of the target moment.
For example, in order to further improve the accuracy of the target position, the target position may be corrected according to the historical two-dimensional image of the blood vessel in the specified area acquired at the previous time of the target time and the two-dimensional image acquired at the target time. It is understood that the DSA device acquires an image of the blood vessels in the specified region at each acquisition time according to a preset acquisition period (e.g., 5ms), and the acquisition period is different from the target time by one time immediately before the target time. The travel distance of the front end of the guide wire in one acquisition cycle can be determined according to the historical two-dimensional image and the two-dimensional image, and correspondingly, the difference between the target position determined at the target moment and the historical target position determined at the previous moment of the target moment also needs to be the travel distance. Therefore, the target position can be corrected using the travel distance to improve the accuracy of the target position.
Fig. 5 is a flowchart illustrating another method of generating a three-dimensional contrast image according to an exemplary embodiment, as shown in fig. 5, before step 104, the method further includes:
and 105, identifying a target blood vessel where the front end of the guide wire in the two-dimensional image is located, and determining the central line of the target blood vessel.
And step 106, taking the intersection point of the central line and the target plane as a target viewpoint.
Accordingly, step 104 includes:
And 1042, generating a three-dimensional contrast image according to the target viewpoint by taking the target plane as a section of the three-dimensional structure.
For example, in order to make the three-dimensional contrast image conform to the viewing habit of the user as much as possible, i.e., to make the content presented by the three-dimensional contrast image match the content seen when the user's eye is located at the tip of the guide wire, the viewpoint (i.e., the target viewpoint) of the three-dimensional contrast image may be determined before the three-dimensional contrast image is generated. Specifically, a target blood vessel where the front end of the guide wire is located in the two-dimensional image may be identified according to a preset image identification algorithm, that is, the contour of the target blood vessel in the two-dimensional image is identified, and the center line of the target blood vessel is determined, as shown in (a) in fig. 6. And then taking the intersection point of the central line and the target plane as a target viewpoint.
Specifically, in the process of generating the three-dimensional contrast image, three-dimensional modeling may be performed on a blood vessel in the specified region in a three-dimensional space according to the three-dimensional data to obtain a three-dimensional structure (i.e., a three-dimensional model) at the target position, then the target plane is used as a section of the three-dimensional structure to cut the three-dimensional structure to obtain a three-dimensional section view, and finally the three-dimensional section view is adjusted to make the target viewpoint located at the center of the image, so that the obtained three-dimensional contrast image is the three-dimensional contrast image. From the three-dimensional contrast image generated from the target plane and the target viewpoint, the displayed content is as if the user's eye is located at the target viewpoint, and the image can be seen, as shown in (b) of fig. 6.
Fig. 7 is a flowchart illustrating another method of generating a three-dimensional contrast image according to an exemplary embodiment, as shown in fig. 7, after step 104, the method further includes:
and 107, displaying a guide wire mark at a position corresponding to the target position in the three-dimensional contrast image, wherein the guide wire mark is used for displaying the position of the guide wire in the three-dimensional structure at the target position.
In an implementation scenario, in order to further assist the user to clearly see the running of the guide wire in the blood vessel, a guide wire identifier may be displayed in a three-dimensional contrast image, as shown in fig. 8, so as to show the position of the front end of the guide wire in the three-dimensional structure at the target position to the user, thereby improving the user experience. The guide wire mark can be a virtual guide wire graph, and other icons can be selected according to the specific requirements of the user.
Fig. 9 is a flowchart illustrating another method for generating a three-dimensional contrast image according to an exemplary embodiment, as shown in fig. 9, after step 104, the method further includes:
in step 109, the vessel name at the target position is determined and displayed in the three-dimensional contrast image.
In another implementation scenario, some additional auxiliary information may be displayed on the three-dimensional contrast image to assist the user in performing the guidewire operation, so as to further improve the user experience. The auxiliary information may include the expected heading of the guidewire, the name of the vessel at the target location, etc. For example, the target position and the target blood vessel may be input into a pre-trained estimation model, an expected trend of the guide wire output by the estimation model is obtained, and the expected trend is displayed in a three-dimensional contrast image for reference of a user. In another scenario, the target position and the target blood vessel may be input into a pre-trained recognition model, the blood vessel name at the target position output by the recognition model is obtained, the recognition model may further output the blood vessel names of the blood vessels of each side branch in front of the guide wire trend at the target position, and the blood vessel names are displayed in the three-dimensional contrast image. Wherein, the estimation model and the recognition model can be obtained by learning and training according to artificial intelligence big data.
In summary, the present disclosure first obtains a two-dimensional image of a blood vessel in a specified region at a target time, where the two-dimensional image shows a guide wire of a DSA device, and then registers the two-dimensional image with pre-obtained three-dimensional data, so as to obtain a target position of a front end of the guide wire in a three-dimensional space corresponding to the three-dimensional data, where the three-dimensional data is image data capable of describing a three-dimensional structure of the blood vessel in the specified region. And determining a target plane perpendicular to the plane of the two-dimensional image in the three-dimensional space according to the target position, and finally generating a three-dimensional contrast image comprising a three-dimensional structure at the target position according to the three-dimensional data and the target plane. The method and the device can provide the three-dimensional contrast image with the front end of the guide wire as the first visual angle, and enable a user to visually and clearly check the structure in the blood vessel and the running of the guide wire in the blood vessel without repeatedly adjusting a frame of the DSA equipment, thereby expanding the application scene and the applicability of the DSA equipment and improving the intelligence of the DSA equipment.
Fig. 10 is a block diagram illustrating a three-dimensional contrast image generation apparatus according to an exemplary embodiment, and as shown in fig. 10, the apparatus 200 is applied to a DSA device including:
an obtaining module 201, configured to obtain a two-dimensional image of a blood vessel in a specified region at a target time, where a guide wire of a DSA device is displayed in the two-dimensional image.
A registering module 202, configured to register pre-acquired three-dimensional data with the two-dimensional image to determine a target position of the front end of the guidewire in a three-dimensional space corresponding to the three-dimensional data, where the three-dimensional data is image data capable of describing a three-dimensional structure of a blood vessel in the designated area.
And the determining module 203 is used for determining a target plane perpendicular to the plane of the two-dimensional image in the three-dimensional space according to the target position.
A generating module 204 for generating a three-dimensional angiographic image from the three-dimensional data and the target plane, the three-dimensional angiographic image including a three-dimensional structure at the target location.
Fig. 11 is a block diagram illustrating another apparatus for generating a three-dimensional contrast image according to an exemplary embodiment, where as shown in fig. 11, the registration module 202 includes:
the registration sub-module 2021 is configured to perform registration on the three-dimensional data and the two-dimensional image according to a preset image registration algorithm, so as to determine a target blood vessel in the two-dimensional image, where the front end of the guidewire is located, and determine an absolute position of the target blood vessel in a three-dimensional space.
A first determining sub-module 2022 for determining the relative position of the leading end of the guide wire in the target vessel from the two-dimensional image.
A second determining submodule 2023 for determining the target position based on the absolute position and the relative position.
Optionally, the first determining submodule 2022 is configured to perform the following steps:
step 1) identifying the front end of the guide wire in the two-dimensional image to determine the number of pixels occupied by the front end of the guide wire in the two-dimensional image.
And 2) determining the size of each pixel in the two-dimensional image according to the diameter of the front end of the guide wire and the number of the pixels.
And 3) determining the relative position according to the size of each pixel in the two-dimensional image.
Fig. 12 is a block diagram illustrating another apparatus for generating a three-dimensional contrast image according to an exemplary embodiment, where, as shown in fig. 12, the registration module 202 further includes:
and the correction submodule 2024 is configured to correct the target position according to the historical two-dimensional image and the two-dimensional image, where the historical two-dimensional image is an image of a blood vessel in the specified area acquired at a previous time of the target time.
Fig. 13 is a block diagram illustrating another apparatus for generating a three-dimensional contrast image according to an exemplary embodiment, and as shown in fig. 13, the apparatus 200 may further include:
the identifying module 205 is configured to identify a target blood vessel in which a leading end of a guide wire in the two-dimensional image is located and determine a center line of the target blood vessel before generating a three-dimensional contrast image according to the three-dimensional data and the target plane. And taking the intersection point of the central line and the target plane as a target viewpoint.
A generating module 204 for determining a three-dimensional structure at the target position according to the three-dimensional data. And generating a three-dimensional contrast image according to a target viewpoint by taking the target plane as a section of a three-dimensional structure.
Fig. 14 is a block diagram illustrating another apparatus for generating a three-dimensional contrast image according to an exemplary embodiment, and as shown in fig. 14, the apparatus 200 may further include:
and a display module 206, configured to display, after generating a three-dimensional contrast image according to the three-dimensional data and the target plane, a guide wire identifier at a position corresponding to the target position in the three-dimensional contrast image, where the guide wire identifier is used to display a position of the guide wire within a three-dimensional structure at the target position.
Optionally, the display module 206 is further configured to determine an expected trend of the guide wire at the target position after generating a three-dimensional contrast image according to the three-dimensional data and the target plane, and display the expected trend in the three-dimensional contrast image. And/or determining the name of the blood vessel at the target position and displaying the name of the blood vessel in the three-dimensional contrast image.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
In summary, the present disclosure first obtains a two-dimensional image of a blood vessel in a specified region at a target time, where the two-dimensional image shows a guide wire of a DSA device, and then registers the two-dimensional image with pre-obtained three-dimensional data, so as to obtain a target position of a front end of the guide wire in a three-dimensional space corresponding to the three-dimensional data, where the three-dimensional data is image data capable of describing a three-dimensional structure of the blood vessel in the specified region. And determining a target plane perpendicular to the plane of the two-dimensional image in the three-dimensional space according to the target position, and finally generating a three-dimensional contrast image comprising a three-dimensional structure at the target position according to the three-dimensional data and the target plane. The method and the device can provide the three-dimensional contrast image with the front end of the guide wire as the first visual angle, and enable a user to visually and clearly check the structure in the blood vessel and the running of the guide wire in the blood vessel without repeatedly adjusting a frame of the DSA equipment, thereby expanding the application scene and the applicability of the DSA equipment and improving the intelligence of the DSA equipment.
FIG. 15 is a block diagram illustrating an electronic device 300 according to an example embodiment. As shown in fig. 15, the electronic device 300 may include: a processor 301 and a memory 302. The electronic device 300 may also include one or more of a multimedia component 303, an input/output (I/O) interface 304, and a communication component 305.
The processor 301 is configured to control the overall operation of the electronic device 300, so as to complete all or part of the steps in the above-mentioned method for generating a three-dimensional contrast image. The memory 302 is used to store various types of data to support operation at the electronic device 300, such as instructions for any application or method operating on the electronic device 300 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and the like. The Memory 302 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk. The multimedia components 303 may include a screen and an audio component. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 302 or transmitted through the communication component 305. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 304 provides an interface between the processor 301 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 305 is used for wired or wireless communication between the electronic device 300 and other devices. Wireless communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, which is not limited herein. The corresponding communication component 305 may therefore include: Wi-Fi module, Bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic Device 300 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components, for performing the above-mentioned method for generating a three-dimensional radiographic image.
In another exemplary embodiment, there is also provided a computer readable storage medium including program instructions, which when executed by a processor, implement the steps of the method for generating a three-dimensional contrast image described above. For example, the computer readable storage medium may be the memory 302 including program instructions executable by the processor 301 of the electronic device 300 to perform the method for generating a three-dimensional contrast image described above.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A method of generating a three-dimensional contrast image, applied to a digital subtraction angiography DSA apparatus, the method comprising:
acquiring a two-dimensional image of a blood vessel in a designated area at a target moment, wherein a guide wire of the DSA equipment is displayed in the two-dimensional image;
registering pre-acquired three-dimensional data with the two-dimensional image to determine a target position of the front end of the guide wire in a three-dimensional space corresponding to the three-dimensional data, wherein the three-dimensional data is image data capable of describing a three-dimensional structure of a blood vessel in the designated area;
according to the target position, determining a target plane perpendicular to the plane of the two-dimensional image in the three-dimensional space;
generating a three-dimensional contrast image from the three-dimensional data and the target plane, the three-dimensional contrast image including a three-dimensional structure at the target location.
2. The method of claim 1, wherein registering pre-acquired three-dimensional data with the two-dimensional image to determine a target location of a leading end of the guidewire in a three-dimensional space corresponding to the three-dimensional data comprises:
registering the three-dimensional data and the two-dimensional image according to a preset image registration algorithm so as to determine a target blood vessel where the front end of the guide wire is located in the two-dimensional image and determine the absolute position of the target blood vessel in the three-dimensional space;
determining the relative position of the front end of the guide wire in the target blood vessel according to the two-dimensional image;
and determining the target position according to the absolute position and the relative position.
3. The method of claim 2, wherein said determining a relative position of a leading end of the guidewire within the target vessel from the two-dimensional image comprises:
identifying the front end of the guide wire in the two-dimensional image to determine the number of pixels occupied by the front end of the guide wire in the two-dimensional image;
determining the size of each pixel in the two-dimensional image according to the diameter of the front end of the guide wire and the number of the pixels;
determining the relative position based on the size of each pixel in the two-dimensional image.
4. The method of claim 2, wherein said registering pre-acquired three-dimensional data with said two-dimensional image to determine a target position of a leading end of said guidewire in a three-dimensional space corresponding to said three-dimensional data further comprises:
and correcting the target position according to a historical two-dimensional image and the two-dimensional image, wherein the historical two-dimensional image is an image of the blood vessel in the specified area acquired at the last moment of the target moment.
5. The method of claim 1, wherein prior to said generating a three-dimensional contrast image from said three-dimensional data and said object plane, said method further comprises:
identifying a target blood vessel where the front end of the guide wire is located in the two-dimensional image, and determining the central line of the target blood vessel;
taking the intersection point of the central line and the target plane as a target viewpoint;
generating a three-dimensional contrast image from the three-dimensional data and the target plane, comprising:
determining a three-dimensional structure at the target location from the three-dimensional data;
and generating the three-dimensional contrast image according to the target viewpoint by taking the target plane as a section of the three-dimensional structure.
6. The method of any of claims 1-5, wherein after the generating a three-dimensional contrast image from the three-dimensional data and the object plane, the method further comprises:
and displaying a guide wire mark at a position corresponding to the target position in the three-dimensional contrast image, wherein the guide wire mark is used for displaying the position of the guide wire in a three-dimensional structure at the target position.
7. The method of any of claims 1-5, wherein after the generating a three-dimensional contrast image from the three-dimensional data and the object plane, the method further comprises:
determining an expected trend of the guide wire at the target position and displaying the expected trend in the three-dimensional contrast image; and/or the presence of a gas in the gas,
determining a vessel name at the target location and displaying the vessel name in the three-dimensional contrast image.
8. An apparatus for generating a three-dimensional contrast image, which is applied to a Digital Subtraction Angiography (DSA) device, the apparatus comprising:
the acquisition module is used for acquiring a two-dimensional image of a blood vessel in a specified region at a target moment, and a guide wire of the DSA equipment is displayed in the two-dimensional image;
the registration module is used for registering pre-acquired three-dimensional data and the two-dimensional image so as to determine a target position of the front end of the guide wire in a three-dimensional space corresponding to the three-dimensional data, wherein the three-dimensional data is image data capable of describing a three-dimensional structure of a blood vessel in the specified area;
the determining module is used for determining a target plane vertical to the plane of the two-dimensional image in the three-dimensional space according to the target position;
a generating module to generate a three-dimensional angiographic image from the three-dimensional data and the target plane, the three-dimensional angiographic image including a three-dimensional structure at the target location.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
10. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 7.
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